Variable-horizon based Model Predictive Control for Tele-operation with Time-varying Delay

Hiroki Arai, Hiroki Nagakura, Yutaka Uchimura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a variable-Horizon based model predictive control (MPC) to compensate for a system with timevarying delay. The proposed method makes use of a prediction model to estimate a controlled object's future state. Suppose time delay varies, the local-side prediction assumes the worstcase delay Most packets however arrive within the worst-case maximum delay. Waiting for the timing until the maximum time runs out is inefficient. Instead, this paper proposes using the early-arriving packets to produce the remote-side reference trajectory for MPC. This paper's contribution is a proposal for a framework for MPC to deal with varying horizons. The method's performance was evaluated by numerical simulations and remotecontrol experiments with a human operated mobile robot.

Original languageEnglish
Title of host publication2020 IEEE 29th International Symposium on Industrial Electronics, ISIE 2020 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages586-591
Number of pages6
ISBN (Electronic)9781728156354
DOIs
Publication statusPublished - 2020 Jun
Event29th IEEE International Symposium on Industrial Electronics, ISIE 2020 - Delft, Netherlands
Duration: 2020 Jun 172020 Jun 19

Publication series

NameIEEE International Symposium on Industrial Electronics
Volume2020-June

Conference

Conference29th IEEE International Symposium on Industrial Electronics, ISIE 2020
Country/TerritoryNetherlands
CityDelft
Period20/6/1720/6/19

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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